Vehicular control system with image processing and wireless communication

ABSTRACT

A vehicular control system includes a camera and a receiver disposed at the equipped vehicle. A control includes an image processor that processes image data captured by the camera to detect vehicles present within the field of view of the camera. The vehicular control system determines presence of another vehicle that constitutes a potential hazard existing exterior of the equipped vehicle responsive at least in part to a wireless communication originating from the other vehicle and received by the receiver. When the other vehicle enters the field of view of the camera, and responsive at least in part to the image processor processing image data captured by the camera, the control detects that the other vehicle is present within the field of view of the camera and controls at least one vehicle function of the equipped vehicle to mitigate collision with the other vehicle.

CROSS REFERENCE TO RELATED APPLICATIONS

The present application is a continuation of U.S. patent applicationSer. No. 14/867,069, filed Sep. 28, 2015, now U.S. Pat. No. 9,919,705,which is a continuation of U.S. patent application Ser. No. 13/660,306,filed Oct. 25, 2012, now U.S. Pat. No. 9,146,898, which claims thefiling benefits of U.S. provisional application Ser. No. 61/552,167,filed Oct. 27, 2011, which is hereby incorporated herein by reference inits entirety.

FIELD OF THE INVENTION

The present invention relates to imaging systems or vision systems forvehicles.

BACKGROUND OF THE INVENTION

Use of imaging sensors in vehicle imaging systems is common and known.Examples of such known systems are described in U.S. Pat. Nos.5,949,331; 5,670,935 and/or U.S. Pat. No. 5,550,677, which are herebyincorporated herein by reference in their entireties.

SUMMARY OF THE INVENTION

The present invention provides a vision system or imaging system for avehicle that utilizes one or more cameras to capture images exterior ofthe vehicle, and provides the communication/data signals, includingcamera data or image data that is processed and, responsive to suchimage processing and responsive to other information pertaining to thedriving condition or surrounding environment or traffic at or near thevehicle, a vehicle safety or alert system is operable to provide anappropriate vehicle safety feature or alert that may vary depending onthe environment or traffic surrounding the vehicle.

According to an aspect of the present invention, a driver assist systemfor a vehicle includes an object detection sensor disposed at thesubject vehicle and having an exterior field of view, and a receiverdisposed at the subject vehicle and operable to receive a wirelesscommunication from a communication device remote from the subjectvehicle. The wireless communication is associated with at least one of(i) a driving condition of another vehicle and (ii) a road condition ofinterest to the driver of the subject vehicle (and the condition may benear or at the subject vehicle or remote from the subject vehicle, suchas forward of the subject vehicle along the road being traveled by thesubject vehicle and potentially outside of the field of view of thesensor of the driver assist system). The driver assist system includes acontrol operable to process data captured by the object detection sensorto detect an object approaching the subject vehicle. The driver assistsystem is operable to adjust the processing of the data responsive atleast in part to the wireless communications received by the receiver.The driver assist system is operable to generate an alert to alert thedriver of the subject vehicle of a potential hazard responsive to theprocessing of the data. Optionally, a system of the vehicle (such as abraking system or a steering system or a collision avoidance system orthe like) may be operable to intervene with or control a vehiclefunction to mitigate or avoid a potential hazard responsive to theprocessing of the data.

Optionally, the control may adjust the processing of the data to adistant mode of processing responsive to the wireless communicationbeing indicative of an object approaching the subject vehicle from adistance near the effective range of the object detection sensor, andwith the distant mode processing of the data focuses on an area at whichit is determined that the object approaching the subject vehicle islocated. Optionally, the control may adjust the processing of the datato a nearby mode of processing responsive to the object detection sensordetecting an object of interest near to and approaching the subjectvehicle, with the nearby mode of processing of the data focuses on anarea at which the detected object of interest is located.

Optionally, the driver assist system may be operable to alert the driverof the subject vehicle to not open a vehicle door when the subjectvehicle is parked and when the driver assist system detects a vehicleapproaching the subject vehicle in a side lane adjacent to the subjectvehicle. The driver assist system may alert the driver of the subjectvehicle to not open the vehicle door responsive to the detectedapproaching vehicle being within a threshold distance of the subjectvehicle, and the control may adjust or alter the threshold distanceparameter responsive to at least one of (i) a distance from the subjectvehicle to the detected approaching vehicle, (ii) a speed of thedetected approaching vehicle and (iii) an environment in which thesubject vehicle is parked.

These and other objects, advantages, purposes and features of thepresent invention will become apparent upon review of the followingspecification in conjunction with the drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a vehicle receiving car to carcommunications that provide information about incoming traffic inaccordance with the present invention;

FIG. 2 is a perspective view of a vehicle parking at or near a curb,shown with a virtual camera positioned by the system to aid the driverwhile narrowing the curb;

FIG. 3 is a perspective view of the vehicle wheel and curb of FIG. 2, asprovided by a virtual vehicle camera positioned as like shown in FIG. 2responsive to a determination that the vehicle is parking at or near acurb in accordance with the present invention;

FIG. 4 is a perspective view of a vehicle equipped with the driverassist system of the present invention as the vehicle travels along aroad and as the system detects another vehicle on the road ahead of thesubject vehicle, with the narrowing vehicle receiving a tag with mehtainformation which may be composed by on board sensors in combinationwith received by car to car communication as like shown in FIG. 1;

FIG. 5 is another view after the scene shown in FIG. 4, where the systemmay process images of the first detected vehicle in an intermediate modeand images of the second detected vehicle in a distant mode inaccordance with the present invention;

FIG. 6 is a schematic of a camera / vision filter mode switching that iscontext dependent in accordance with the present invention;

FIG. 7 is a schematic of a workflow when utilizing a time of flight(TOF) sensor system (such as a TOF 3D sensor system) with flash light asa time pattern based communication device, shown with three modes‘search’, ‘handshake’ and data transmission, such that when two vehicleswith TOF are measuring instantaneous, both measurings may be disturbedby the other, which is why the measuring channel, which is a time slotin a time pattern, may be chosen different for the two channels, and thedetection eventual change of one system's channel includes thisworkflow;

FIG. 8 shows in bit level detail how the duplex time pattern of two TOFcommunication devices may be set up, where, in this example, peer Btransmits its chosen measuring channel to peer A and peer A confirmspeer B's channel and communicates peer A's newly chosen channel, wherebypeer B confirms and after that more individual data may be transmitted;

FIG. 9 is a perspective view of a bus leaving a bus station or the like;

FIG. 10A shows a two way data transmission between a vehicle and avehicle sensor data server, where the shaded boxes show essentialcontent of a specific sensor group, and wherein, by comparing thecurrently measured sensor data of several on board system sensors to astream of data which tell what should be picked up by the sensors at acertain location, the vehicle's algorithm can confirm the planned pathis according the (optimal) driving path, with differences or deltas inthe data pointing to incidents that may be regarded as unusual and thatmay trigger corrective manners of the driving assist system of any kind,and wherein the vehicle transmits its own sensor's data, which mayalready been evaluated;

FIG. 10B is similar to FIG. 10A but shows the server controls wherevehicle sensor data is transmitted to the server;

FIG. 11 shows a simplified schematic of a traffic light intersectionscene that may be stored and provided to vehicles at that location by asensor data server similar to that shown in FIGS. 10A and 10B, with theoptical data considered important, especially the position of edges ofimmobile features, especially those which are mostly always visiblesince these are high enough or seldom hidden by other trafficparticipants (legend: 2 horizon features, 1 distant features, 3 closefeatures);

FIG. 12 is a table (Table 1) showing a ranking scheme;

FIGS. 13-15 are tables (Tables 2-4, respectively) showing sub tables ofspeed metrics, object/vehicle type metrics and distance metrics,respectively, and the respective influence level add ons; and

FIG. 16 is a table (Table 5) showing intended path conflict metrics andtimes and influence values.

DESCRIPTION OF THE PREFERRED EMBODIMENTS

A driver assist system and/or vision system and/or alert system mayoperate to supervise a passenger car's environment, such as theenvironment surrounding a just stopped car with occupants still inside,to determine potential hazards due to surrounding traffic by detectingthe traffic or other objects at or near the stopped vehicle, evaluatingtheir shape, tracking their paths of travel to determine their travelpaths or trajectories for deciding whether the detected vehicle orobject may potentially collide with an occupant of the subject vehicleif the occupant attempts to open a vehicle door, whereby the system,upon making a determination that a potential collision may occur, maytake safety measures, such as generating an alert, such as an audiblewarning sound or alert, a door handle vibration or locking/braking thedoor or the like (such as by utilizing aspects of the system describedin U.S. Pat. No. 7,586,402, which is hereby incorporated herein byreference in its entirety). The supervision may be accomplished byvarious vehicle-based sensors, such as ultrasonic sensors, RADAR, LIDAR,time of flight (TOF) sensors and/or cameras and/or the like disposed atthe subject vehicle and having exterior fields of view. The system mayinclude seat sensors or the like for determining seat occupancy, such asby utilizing aspects of the system described in U.S. Pat. PublicationNo. US 2009/0033477, which is hereby incorporated herein by reference inits entirety. It is known for such systems to also detect not movingobstacles, such as a sign or lantern pole or the like, and to provide analert or warning to the occupant or to intervene to avoid colliding withthe detected object.

With such alert systems, the systems often provide warnings that are notnecessary or desired due to the particular driving condition orenvironment in which the subject vehicle is being driven or parked.Thus, an alert system should provide warnings when appropriate to avoidbothering the driver and/or occupant(s) of the vehicle, while providinga safety feature that is beneficial to the driver and/or occupants ofthe vehicle.

The system of the present invention thus detects potential hazards orconditions or the like and analyzes detected objects (such as traffic orthe like) and tracks the detected objects to provide proper hazardanticipations and to avoid misleading or inappropriate interventions andwarnings.

The present invention provides an object or obstacle and trafficsupervision and vision system working in an end user productive manner.The driver assist system of the present invention includes a control orprocessor that receives inputs from one or more sensors of a vehicle,such as multiple object detection sensors, including the likes ofultrasonic sensors, radar sensors, laser sensors, lidar sensors, imagingsensors, occupancy sensors (such as seat or cabin occupant detectionsensors or the like), rain sensors, traction sensors (such as for anelectronic traction control system (ETS) or an acceleration slipreduction (ASR) system or the like) and/or the like. The system may alsoreceive information or inputs from (and be responsive to) informationfrom other systems, such as infotainment systems, navigation systems,telematics systems and the likes, and/or systems of other vehiclesand/or other remote systems, such as may be received from a satellitecommunication and may include information pertaining to other vehicleson the road at or near the subject vehicle (such as wirelesscommunications from and/or pertaining to other vehicles on the road,such as wireless communications as part of smart vehicle communicationssystems of the types proposed for use in Europe), such as car-to-carsystems or car-to-x systems or car-to-device systems (where the devicemay comprise a communication device or system of another vehicle or acommunication device or system disposed at or along a road or other areatravelled by vehicles or a satellite communication device or system orthe like). The communication may be based on any suitable communicationprotocol or system, such as WLAN, BLUETOOTH® or the like, or by infrareddata transmission (FM) or sub carried by (two) vehicle RADAR, such as byutilizing aspects of the system described in U.S. Pat. No. 7,315,239,which is hereby incorporated herein by reference in its entirety.

So far unknown is to realize a car-to-car communication by a sub carriedtransmission via a time of flight flash light (TOF) system. The TOFsystem comprises a light source or flash light (that is intermittentlyoperable to flash at a selected pulse or rate) and a light sensor. Thelight source mainly serves to emit light flashes, which are reflected byits environment. As the distances to reflecting objects increases tolonger distances, the time for the light to reach the light sensorincreases. By that a 3D space reconstruction is possible. To utilize thelight flashes as a data transmit system the flashes must be emitted in atime pattern (pulse widths or wavelength modulation may be difficult).Hereby usual pulse distance or pulse phase modulation codes may comeinto use. At the time two vehicles equipped with such communicationcapable TOF systems come into each other's field of reach orcommunication, the communication may initialize automatically. Duringthe initialization, there may be a handshake mode in which transmissionand measuring time patterns are set up to minimize the data collisionsand disturbing influences when both systems are flashing at the sametime.

An example of the described workflow is shown in FIG. 7. In FIG. 8, anexample of a time coded TOF communication initialization procedure onbit level is shown. First there is a handshake phase followed by achannel change since both systems ran instantaneous on the samemeasuring cycle. Channels are defined by consecutive time windows.

Optionally, a data communication may alternatively be sub carried via astructured light flash system instead of a TOF flash system.

The data exchange may comprise several nodes for either vehicles orinfrastructure.

The system may utilize GPS information and/or data and/or satelliteimages and/or road maps or road data or the like, and/or may utilizecell phone localization methods, such as for detecting high trafficvolume, average car speed and the like to determine when there aretraffic jams or excessive or slow moving traffic at or near the subjectvehicle.

The system may utilize other information, such as information wirelesslycommunicated from other vehicles and/or from communication systemsassociated with the road system or infrastructure (such as informationcommunicated in response to sensors at intersections or along roadwaysor the like) and/or map data and the like, to provide instructions tothe driver of the subject vehicle to assist the driver in bypassingdetected traffic jams. For example, the system may receive informationor data or inputs from host-based systems or accessories (such as a WLANor Ethernet via a mobile phone or telematics system or the like) or frominter car communications (such as, for example, Daimler's DedicatedShort Range Communication or other smart vehicle communication systemsand the like) and may use such information for setting up network grids(such as via Zigbee or the like) with vehicles ahead of and/or behindthe subject vehicle or vehicles in opposing traffic or the like. Forexample, economic drive systems/algorithm may provide anticipation ofupcoming traffic situations to provide early warning to the driver(possibly before the traffic condition is detectable by thevehicle-based or on-board sensors of the subject vehicle) so that thedriver (or the system) can reduce the speed of the subject vehiclebefore it approaches the traffic situation. The system may also orotherwise receive information wirelessly from the likes of remoteimmobile supervision systems, such as monitoring or supervision systemsat or in tunnels, traffic lights on intersections, and/or parking lotsand/or the like.

For example, and with reference to FIG. 1, a car-to-car communicationsystem or the like may communicate information to the system aboutapproaching traffic. Such traffic information or environment informationand the subject vehicle's position and speed of travel provide or definethe context state or driving condition/environment of the subjectvehicle (such as a vehicle parked or broken down at the side of a road).Responsive to such information, the system of the present invention may,responsive to a detection of or receipt of information indicative oftraffic flow or approaching traffic or a traffic jam or accident or thelike, provide an alert to the driver (such as a warning sign or drivinginstruction at a display in the subject vehicle) that, for example,directs the occupants of the subject vehicle to not step out of thebroken down or parked vehicle in the direction of the road's traffic(such as shown as a warning or exit sign in FIG. 1, with the arrow inthe warning sign pointing in a direction that leads the subjectvehicle's occupants away from the detected approaching or closingtraffic).

Any and/or all of the above inputs or systems may be fully or partiallycombined for the purpose of composing a current status of the vehicle'simmediate or direct and further environment, so that the system knowsthe “context” or environment in which the vehicle is travelling. Thiscontext can be used to digitally switch or analogue alter the detectionmode, view filters, display or warning condition or parameters or thelike of a vision system and interacting or depending car systems (suchas a power mode or other safety device condition such as the door locks(first, second detent and opening mode or first and second strokeopening and the like), window lifter, sun roof, folding top, brakes,parking brake, lighting, alarms, and/or the like).

Due to the high data rates and short image sampling rates of a vehiclevision or imaging system, the processing capacity of the vision systemis limited. Higher processing capacity requires more expensive hardware,so it is desirable to instead utilize the processing capacity in anefficient and effective manner. For example, it is desirable to onlyprocess what is needed at any given moment, and thus such processingshould be context dependent so that information that is needed for thespecific environment or conditions surrounding the vehicle at that timeis processed, but other information or data is not processed orprocessed at a lesser level. Typically, such processing of image data bya vision control may be adjusted in terms of resolution, frames persecond, detection and tracking rates, and/or the like.

The above mode/filter switching/altering methodology or system orprocess may be used to control or adjust the image processing or alertgeneration or the like. If multiple tasks or criteria are used, thevarious inputs or criteria may be weighted or processed in a weightedmanner according the context related priority. For example, if thevehicle is parked, information or data pertaining to traffic in the laneadjacent to the subject vehicle may be processed more than informationor data pertaining to vehicles in front of or to the rear of the subjectvehicle, in order to provide an alert to the driver or passenger of thevehicle if it is not safe to open a door of the vehicle to exit thevehicle.

The driver assist system or alert system of the present invention thusmay, for example, provide an indication or warning or alert or the liketo occupants in the vehicle such that the occupant or occupants areindicated and/or visualized and/or warned to not open a door intotraffic such as on a highway with cars approaching in a lane adjacent tothe subject vehicle at a high speed, but the system can determine whendetected objects are not a potential hazard and will not bother or alertthe occupants when the occupant or occupants are exiting the vehicle attimes when the traffic is going very slow such as in a traffic jam ortraffic stand still or the like, even if at the same or similar locationon a highway or other roadway. It is also envisioned that the system maybe responsive to other context dependent situations and that thedriver's attention can be directed to different aspects of differentsituations. For example, when driving or parked along a road or highway,the system may operate in an “intermediate mode” or “distant mode” (FIG.6), where the system processes information pertaining to objects orvehicles at an intermediate or far distance from the subject vehicle(where the detected objects may be travelling at a higher rate of speedor at a high rate of speed relative to the subject vehicle), but whenthe subject vehicle is being driven or parked on a road within citylimits (where the traffic may be travelling slower), the hazarddetection, visualization, warning and intervention functions of thevision system may be switched or adjusted to a “nearby mode”, and mayprocess information or data to detect smaller or slower moving ornon-moving objects, such as a cyclist or street light pole or the likeat or near the subject vehicle, and may alert the occupant of thevehicle to not open a door at a time when opening the door may result inpotentially hitting a cyclist or street light pole or curb or the like.

For example, and with reference to FIGS. 2 and 3, the system maydetermine when the vehicle is being parked at a curb side of a road orstreet and may provide a display or alert as to where the tires of thevehicle are relative to the curb. As shown in FIGS. 2 and 3, a vehiclecamera (although shown in FIG. 2 as a camera remote from the vehicle,the camera may comprise a vehicle-based camera, such as a side camera ator near or in an exterior rearview mirror assembly of the vehicle or thelike, with an exterior field of view that is generally sidewardly of thevehicle and optionally forwardly and/or rearwardly of the vehicle) maybe adjusted (or a display may be adjusted) to automatically view thecurb and provide a display of the curb to the driver of the vehicle orotherwise alert the driver when the tires of the vehicle approach thecurb to assist the driver in parking the vehicle alongside the curb. Asshown in FIG. 2, the vehicle is in the process of parking in or close tothe curb at the side of the road. The vehicle camera view may beadjusted context dependent. Thus, because the system is operable (suchas via image processing or the like) to detect that the vehicle is beingparked (a curbside parking context), the camera and/or display is/areadjusted to view the curb at or near the tires, which is the mostsignificant view at that time and context. The vision filter or mode maybe set to the nearby mode in such a context, such that information ordata pertaining to or associated with objects or vehicles distant fromthe subject vehicle are processed at a reduced level or not processed atall.

Optionally, the system may provide a view of one object, or if multipleobjects (such as a front tire and a rear tire at a curb) are of interestto the driver of the vehicle, the system may provide a dual display(such as half of a display screen used to show one tire at the curb andthe other half of the display screen used to show another tire at thecurb). The system may thus split the view to show or process two or moresignificant objects or the field of view of the camera may be de-zoomedto capture two or more significant objects together in one view orcaptured image. The camera or cameras may be part of a vehicle visionsystem and may comprise a plurality of cameras, and the vision system(utilizing a rearward facing camera and sidewardly facing cameras and aforwardly facing cameras disposed at the vehicle) may provide a displayof a top-down view or birds-eye view of the vehicle or a surround viewat the vehicle, such as by utilizing aspects of the vision systemsdescribed in PCT Application No. PCT/US10/25545, filed Feb. 26, 2010 andpublished Sep. 2, 2010 as International Publication No. WO 2010/099416,and/or PCT Application No. PCT/US10/47256, filed Aug. 31, 2010 andpublished Mar. 10, 2011 as International Publication No. WO 2011/028686,and/or U.S. patent application Ser. No. 13/333,337, filed Dec. 21, 2011and published Jun. 28, 2012 as U.S. Publication No. US-2012-0162427,and/or U.S. provisional application Ser. No. 61/678,375, filed Jan. 20,2012, and/or PCT Application No. PCT/CA2012/000378, filed Apr. 25, 2012,which are hereby incorporated herein by reference in their entireties.

When the vehicle is driven outside of the city limits (which the systemmay determine responsive to image processing or GPS data or the like),the system may switch to the distant mode to detect more distant objectsapproaching the subject vehicle, so to early detect, track, zoom andanticipate the speed and trajectory and eventually the intentions of adetected approaching object or vehicle, so that the system may alert orwarn the driver of a potential hazard or intervene to avoid a potentialhazard (such as via automatically reducing the speed of the subjectvehicle or the like). As discussed above, early detection of an upcomingobject may be supported by knowledge of its presence or approach asreceived from a remote communication source (that may provideinformation pertaining to or associated with vehicles on the road or thelike).

Optionally, the system may be operable to classify and ‘label’ oridentify one or multiple object(s) and to set the speed and trajectoryparameters and Thatha' properties to rank their hazardous potential orinfluence, such suggested in U.S. provisional application Ser. No.61/696,416, filed Sep. 4, 2012, which is hereby incorporated herein byreference in its entirety, even when the detected object is far from thesubject vehicle and still a “spot” on the horizon, and when detectionsystems such as radar, laser and cameras are still unable to determinesuch parameters of the distant object. This hazardous influence rankingmay be done by taking the speed, the distance, the size, the mass andthe deformability and vulnerability of the subject vehicles or objectsinto account. There may be a look up table of each object's propertyinfluence value in use. In order to avoid overwhelming the driver withtoo many object's information and data, there may be a certain level ofinfluence or a limited number of objects with the highest ranking whichbecome brought to the driver's attention. In the example of such aranking scheme shown in Table 1 (with Tables 2-4 showing sub tables ofthe used metrics) the gray deposited values are these of the three withthe highest ranking value which would be the data of choice. When thevehicles' desired destinations are known due to data transmission, theintended paths can become predetermined. Imminent colliding hazardsbecome conceivable by projecting the vehicle's path trajectories intothe future (see Table 5). As Mehta information, the local traffic rulesmay be regarded by the rating algorithms as well as when choosing theranking of the information which will become presented to the driver.

There may be driving contexts which do not need to be brought to thedriver's attention, such as, for example, cross traffic information whenthe vehicle is stopped at a red light. However, a passing ban or nopassing symbol may appear or pop up at the display for viewing by thedriver of the vehicle when the driver is about to pass a just pullingout school bus (such as shown in FIG. 9). FIG. 9 shows a typical casewhere local (national) rules are considered by the Mehta datainterpretation. For example, in some countries, departing busses havethe right of way and can't be overtaken or passed by rule. In theexample of FIG. 9, a leaving bus is shown, and the assist system ishighlighting a passing ban or no passing symbol, which is not alwaysshown on this location or spot, but is shown there in this example.

Optionally, the system may also possess or include a data transferchannel to a data cloud in the World Wide Web or one or more (special)servers suitable to receive the vehicle's data from several sensors as astream of data conjuncted to the vehicle's current position whiletravelling along its path. By that a road may be sampled by a concert ofdifferent sensors. The server may collect and merge the incoming data.By the merge of several data sets of different vehicles consecutivelypassing the same location or area or spot, the characteristic conditionsof this location will emerge out of the signal noise. The fixed itemswill appear in every data set, the mobile or moving items will fade awaywith the rising number of passed vehicles. The oldest data sets will beoverwritten by the newest ones to keep the data high topical. The resultwill be the average of what one vehicle's sensors should detect at acertain area or geographic location. Due to that, the participatingvehicles with data transfer system will receive a data stream from theserver matching to the position where they are as to be the desiredscene (such as illustrated in FIG. 10A). The filled boxes stand foressential content that a specific sensor should detect when the vehicleis passing the corresponding location. The scene will differ more fromthe actual captured concert of sensor data the more the vehicle willdiffer from the recorded average. Driving aid algorithms may alwaysaspire to reduce the differences. Nowadays driving assistant systems maydetermine which turn lane a vehicle is driving at or in or along. Thisis necessary, for example, for aiding the correct traffic lightinformation according a specific turning lane (such as shown in theexample shown in FIG. 11). Due to the road data being verified by every(equipped) vehicle, these are high topical. By that, the system is asuperior classical map based system. Open street map® is also hightopical but just in terms of the road paths and traffic jam detection.

Due to the proposed system of the present invention, very small localdisturbances may be perceived. For example, when there is a location orspot where debris or an object (such as, for example, a piece of cargothat fell off a truck or the like) is located, classical map systemscan't give any advice. Highly sophisticated collision avoidance andinvasive braking assistant systems may be able to elude a crash, butonly if the obstacle is detected by the system of the subject vehicleand is not hidden by the ahead driving traffic. These trafficparticipants may change their lane for avoiding a collision themselvesvery late so that the own systems will have to engage a full brake. Thesystem of the present invention would be ready to aid already when justa few other (equipped) traffic participants would have passed theobstacle with their sensors (via detection of the object by the othervehicles' sensors and communication of the detection to the subjectvehicle). For example, when vehicles ahead of the subject vehicle detectthe debris or object, the communication and/or database is updated andthe following subject vehicle's system receives information pertainingto the ahead debris or object, and may generate an alert or control oneor more systems (such as a braking or steering or collision avoidancesystem or the like) responsive at least in part to receipt of acommunication of such information. Thus, the hazard warning andavoidance path finding may be started even when the obstacle isn't inthe line of sight of the subject vehicle's sensor or sensors.

To reduce the data amounts which are transferred and handled, these maybe pre filtered and/or preselected before transferring. This may happenby determining the essential context information by the vehiclealgorithm and just transferring these. Hereby the vehicle algorithm maydecide to send a data set of a certain location or spot by the measureof the difference which was found there. Alternatively, the server maycontrol the choice of the ‘needed’ information. The server may request adata set update of a certain location or spot which data tend to outdatebut does not request those spots or locations at which data wererecently transmitted. An example is shown in FIG. 10A, whereby just areduced amount of data is stored and transmitted, chosen and requestedby the server.

There may be gaps in the data connection. As long the driver enters hisdesired destination to his navigation system (or driving aid system) theaccording of the path to be expected data stream may be previouslydownloaded (such as about 30 seconds early as an example). The vehicle'ssensor data may be stored in a record medium until a connection to theserver is re-established.

The server may also be able extract statistical evidence out of thesensor data. For example, there may be a location or spot which tends tobecome slippery when it's wet. This could become an experience value.The driving aid system may become warned regarding that location or spotalready at the time rain or snow sets in there.

For example, a vehicle camera picture or captured image data may beprocessed and analyzed and further processed depending on the contextdetermined or provided by on board sensors and other vehicle orenvironment information. The system is operable to label the speed andtrajectory parameters of an object or traffic participant when theobject or other vehicle is very far or distant from the subject vehicle.Additionally, the intended path of the detected vehicle may be providedor received via a signal or output of the navigation system of thetracked vehicle, and the intended path may be labelled and/or reflectedto determine the context for switching or adjusting the vision system'sview modes. As shown in FIG. 4, the system may operate to focus orenhance the processing of information in the enlarged view section, withreduced processing of other regions where there are no detected objectsof interest to the driver of the subject vehicle.

With reference to FIG. 5, another view is shown that may be subsequentto the view shown in FIG. 4. As shown in FIG. 5, the system may, forexample, receive updated traffic/road information (such as informationthat is wirelessly communicated/received from other vehicles and/or fromother communication systems associated with the roadway orinfrastructure and/or the like) that further indicates the anticipatedpath of the tracked vehicle. For example, the updated traffic/roadinformation may include information or data indicating that the trackedvehicle (1) has set its turn signal indicator to indicate that thedriver of the tracked vehicle intends to turn at an intersection. In themeantime, another traffic participant or vehicle (2) may become relevantand may also be detected and tracked by the system. The processing powerof the subject vehicle system may be used to process both of theextracted view sections in FIG. 5. Such enhanced or focused processingmay be done in a weighted manner given by the context related priority.Also, the view or section (1) may be processed in the intermediate modeor view filtering, while the view or section (2) may be processed in thedistant mode or view filtering.

Also, because the system is operable to switch the view filters orprocessing modes early (such as responsive to traffic/road informationreceived from sources remote from the subject vehicle, where theinformation pertains to traffic or roadway problems or characteristicswell ahead of the subject vehicle and generally at or out of theeffective range of the vehicle-based sensors of the subject vehicle) todetect objects or road parameters or characteristics well ahead of thetravelling subject vehicle, the system of the present invention mayprovide a reduction in false alerts or warnings as compared to systemsrelying on vehicle-based or on-board sensors and systems alone. Thesystem thus may provide enhanced hazard anticipation, and may limit orsubstantially preclude misleading interventions and/or warnings.

Therefore, the present invention provides a system that is operable todetect objects or vehicles at or near the subject vehicle and isoperable to switch the processing parameters or algorithms in responseto such detections or in response to the driving conditions orenvironment in which the subject vehicle is being driven. The system mayreceive data or information via wireless communications from othervehicles or from other communication systems remote from the subjectvehicle, so that the system may receive data or information pertainingto traffic conditions or road conditions or the like far ahead of thesubject vehicle and not yet detected by the vehicle-based sensors of thesubject vehicle. The system may switch the processing parameters oralgorithms in response to such remote communications to further enhancedetection of objects and/or conditions and to further enhance generationof an appropriate alert or warning or display or the like responsive tothe detected object/condition.

The vehicle may include any type of sensor or sensors, such as imagingsensors or radar sensors or lidar sensors or ultrasonic sensors, time offlight sensors, structured light sensors or the like (such as byutilizing aspects of the systems described in U.S. Pat. No. 8,013,780,which is hereby incorporated herein by reference in its entirety). Forexample, the object detection sensor may comprise an imaging sensor orcamera that may capture image data for image processing, and maycomprise any suitable camera or sensing device, such as, for example, anarray of a plurality of photosensor elements arranged in 640 columns and480 rows (a 640×480 imaging array), with a respective lens focusingimages onto respective portions of the array. The photosensor array maycomprise a plurality of photosensor elements arranged in a photosensorarray having rows and columns. The logic and control circuit of theimaging sensor may function in any known manner, such as in the mannerdescribed in U.S. Pat. Nos. 5,550,677; 5,877,897; 6,498,620; 5,670,935;5,796,094 and/or U.S. Pat. No. 6,396,397, which are all herebyincorporated herein by reference in their entireties. The system maycommunicate with other communication systems via any suitable means,such as by utilizing aspects of the systems described in PCT ApplicationNo. PCT/US10/038477, filed Jun. 14, 2010, and/or U.S. patent applicationSer. No. 13/202,005, filed Aug. 17, 2011 and published Mar. 15, 2012 asU.S. Publication No. US-2012-0062743, which are hereby incorporatedherein by reference in their entireties.

The image processing and algorithmic processing may comprise anysuitable means for processing the images and/or image data. For example,the vision system and/or processing may utilize aspects described inU.S. Pat. Nos. 7,005,974; 5,760,962; 5,877,897; 5,949,331; 6,222,447;6,302,545; 6,396,397; 6,498,620; 6,523,964; 6,611,202; 6,201,642;6,690,268; 6,717,610; 6,757,109; 6,802,617; 6,806,452; 6,822,563;6,891,563; 6,946,978; 7,859,565; 5,550,677; 5,670,935; 6,636,258;7,145,519; 7,161,616; 7,230,640; 7,248,283; 7,295,229; 7,301,466;7,592,928; 7,881,496; 7,720,580; 7,038,577; 6,882,287; 5,929,786 and/orU.S. Pat. No. 5,786,772, and/or PCT Application No. PCT/US2010/047256,filed Aug. 31, 2010 and published Mar. 10, 2011 as InternationalPublication No. WO 2011/028686 and/or International Publication No. WO2010/099416, published Sep. 2, 2010, and/or PCT Application No.PCT/US10/25545, filed Feb. 26, 2010 and published Sep. 2, 2010 asInternational Publication No. WO 2010/099416, and/or U.S. provisionalapplications, Ser. No. 61/696,416, filed Sep. 4, 2012; Ser. No.61/682,995, filed Aug. 14, 2012; Ser. No. 61/682,486, filed Aug. 13,2012; Ser. No. 61/680,883, filed Aug. 8, 2012; Ser. No. 61/678,375,filed Aug. 1, 2012; Ser. No. 61/676,405, filed Jul. 27, 2012; Ser. No.61/666,146, filed Jun. 29, 2012; Ser. No. 61/653,665, filed May 31,2012; Ser. No. 61/653,664, filed May 31, 2012; Ser. No. 61/648,744,filed May 18, 2012; Ser. No. 61/624,507, filed Apr. 16, 2012; Ser. No.61/616,126, filed Mar. 27, 2012; Ser. No. 61/615,410, filed Mar. 26,2012; Ser. No. 61/613,651, filed Mar. 21, 2012; Ser. No. 61/607,229,filed Mar. 6, 2012; Ser. No. 61/605,409, filed Mar. 1, 2012; Ser. No.61/602,878, filed Feb. 24, 2012; Ser. No. 61/602,876, filed Feb. 24,2012; Ser. No. 61/600,205, filed Feb. 17, 2012; Ser. No. 61/588,833,filed Jan. 20, 2012; Ser. No. 61/583,381, filed Jan. 5, 2012; Ser. No.61/579,682, filed Dec. 23, 2011; Ser. No. 61/570,017, filed Dec. 13,2011; Ser. No. 61/568,791, filed Dec. 9, 2011; Ser. No. 61/567,446,filed Dec. 6, 2011; Ser. No. 61/567,150, filed Dec. 6, 2011; Ser. No.61/565,713, filed Dec. 1, 2011; Ser. No. 61/563,965, filed Nov. 28,2011; Ser. No. 61/559,970, filed Nov. 15, 2011; Ser. No. 61/556,556,filed Nov. 7, 2011; Ser. No. 61/554,663, filed Nov. 2, 2011; Ser. No.61/550,664, filed Oct. 24, 2011; Ser. No. 61/552,167, filed Oct. 27,2011; and/or Ser. No. 61/548,902, filed Oct. 19, 2011, and/or PCTApplication No. PCT/CA2012/000378, filed Apr. 25, 2012, and/or PCTApplication No. PCT/US2012/056014, filed Sep. 19, 2012, and/or PCTApplication No. PCT/US12/57007, filed Sep. 25, 2012, and/or PCTApplication No. PCT/US2012/048800, filed Jul. 30, 2012, and/or PCTApplication No. PCT/US2012/048110, filed Jul. 25, 2012, and/or U.S.patent applications, Ser. No. 13/534,657, filed Jun. 27, 2012 andpublished Jan. 3, 2013 as U.S. Publication No. US-2013-0002873, whichare all hereby incorporated herein by reference in their entireties.

The imaging device and control and image processor and any associatedillumination source, if applicable, may comprise any suitablecomponents, and may utilize aspects of the cameras and vision systemsdescribed in U.S. Pat. Nos. 5,550,677; 5,877,897; 6,498,620; 5,670,935;5,796,094; 6,396,397; 6,806,452; 6,690,268; 7,005,974; 7,123,168;7,004,606; 6,946,978; 7,038,577; 6,353,392; 6,320,176; 6,313,454 and6,824,281, and/or International Publication No. WO 2010/099416,published Sep. 2, 2010, and/or PCT Application No. PCT/US10/47256, filedAug. 31, 2010, and/or U.S. patent application Ser. No. 12/508,840, filedJul. 24, 2009, and published Jan. 28, 2010 as U.S. Pat. Publication No.US 2010-0020170, which are all hereby incorporated herein by referencein their entireties. The camera or cameras may comprise any suitablecameras or imaging sensors or camera modules, and may utilize aspects ofthe cameras or sensors described in U.S. patent application Ser. No.12/091,359, filed Apr. 24, 2008 and published Oct. 1, 2009 as U.S.Publication No. US-2009-0244361, and/or U.S. Pat. Nos. 7,965,336 and/orU.S. Pat. No. 7,480,149, which are hereby incorporated herein byreference in their entireties. The imaging array sensor may comprise anysuitable sensor, and may utilize various imaging sensors or imagingarray sensors or cameras or the like, such as a CMOS imaging arraysensor, a CCD sensor or other sensors or the like, such as the typesdescribed in U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962; 5,715,093;5,877,897; 6,922,292; 6,757,109; 6,717,610; 6,590,719; 6,201,642;6,498,620; 5,796,094; 6,097,023; 6,320,176; 6,559,435; 6,831,261;6,806,452; 6,396,397; 6,822,563; 6,946,978; 7,339,149; 7,038,577;7,004,606; 7,720,580 and/or U.S. Pat. No. 7,965,336, and/or PCTApplication No. PCT/US2008/076022, filed Sep. 11, 2008 and publishedMar. 19, 2009 as International Publication No. WO/2009/036176, and/orPCT Application No. PCT/US2008/078700, filed Oct. 3, 2008 and publishedApr. 9, 2009 as International Publication No. WO/2009/046268, which areall hereby incorporated herein by reference in their entireties.

The camera module and circuit chip or board and imaging sensor may beimplemented and operated in connection with various vehicularvision-based systems, and/or may be operable utilizing the principles ofsuch other vehicular systems, such as a vehicle headlamp control system,such as the type disclosed in U.S. Pat. Nos. 5,796,094; 6,097,023;6,320,176; 6,559,435; 6,831,261; 7,004,606; 7,339,149 and/or U.S. Pat.No. 7,526,103, which are all hereby incorporated herein by reference intheir entireties, a rain sensor, such as the types disclosed in commonlyassigned U.S. Pat. Nos. 6,353,392; 6,313,454; 6,320,176 and/or U.S. Pat.No. 7,480,149, which are hereby incorporated herein by reference intheir entireties, a vehicle vision system, such as a forwardly,sidewardly or rearwardly directed vehicle vision system utilizingprinciples disclosed in U.S. Pat. Nos. 5,550,677; 5,670,935; 5,760,962;5,877,897; 5,949,331; 6,222,447; 6,302,545; 6,396,397; 6,498,620;6,523,964; 6,611,202; 6,201,642; 6,690,268; 6,717,610; 6,757,109;6,802,617; 6,806,452; 6,822,563; 6,891,563; 6,946,978 and/or U.S. Pat.No. 7,859,565, which are all hereby incorporated herein by reference intheir entireties, a trailer hitching aid or tow check system, such asthe type disclosed in U.S. Pat. No. 7,005,974, which is herebyincorporated herein by reference in its entirety, a reverse or sidewardimaging system, such as for a lane change assistance system or lanedeparture warning system or for a blind spot or object detection system,such as imaging or detection systems of the types disclosed in U.S. Pat.Nos. 7,881,496; 7,720,580; 7,038,577; 5,929,786 and/or 5,786,772, and/orU.S. provisional applications, Ser. No. 60/628,709, filed Nov. 17, 2004;Ser. No. 60/614,644, filed Sep. 30, 2004; Ser. No. 60/618,686, filedOct. 14, 2004; Ser. No. 60/638,687, filed Dec. 23, 2004, which arehereby incorporated herein by reference in their entireties, a videodevice for internal cabin surveillance and/or video telephone function,such as disclosed in U.S. Pat. Nos. 5,760,962; 5,877,897; 6,690,268and/or U.S. Pat. No. 7,370,983, and/or U.S. patent application Ser. No.10/538,724, filed Jun. 13, 2005 and published Mar. 9, 2006 as U.S.Publication No. US-2006-0050018, which are hereby incorporated herein byreference in their entireties, a traffic sign recognition system, asystem for determining a distance to a leading or trailing vehicle orobject, such as a system utilizing the principles disclosed in U.S. Pat.No. 6,396,397 and/or U.S. Pat. No. 7,123,168, which are herebyincorporated herein by reference in their entireties, and/or the like.

Optionally, the circuit board or chip may include circuitry for theimaging array sensor and or other electronic accessories or features,such as by utilizing compass-on-a-chip or EC driver-on-a-chip technologyand aspects such as described in U.S. Pat. No. 7,255,451 and/or U.S.Pat. No. 7,480,149; and/or U.S. patent applications, Ser. No.11/226,628, filed Sep. 14, 2005 and published Mar. 23, 2006 as U.S.Publication No. US-2006-0061008, and/or Ser. No. 12/578,732, filed Oct.14, 2009 and published Apr. 22, 2010 as U.S. Publication No.US-2010-0097469, which are hereby incorporated herein by reference intheir entireties.

Optionally, the driver assist system and/or vision system may include adisplay for displaying images captured by one or more of the imagingsensors for viewing by the driver of the vehicle while the driver isnormally operating the vehicle. Optionally, for example, the visionsystem may include a video display device disposed at or in the interiorrearview mirror assembly of the vehicle, such as by utilizing aspects ofthe video mirror display systems described in U.S. Pat. No. 6,690,268and/or U.S. patent application Ser. No. 13/333,337, filed Dec. 21, 2011and published Jun. 28, 2012 as U.S. Publication No. US-2012-0162427,which are hereby incorporated herein by reference in their entireties.The video mirror display may comprise any suitable devices and systemsand optionally may utilize aspects of the compass display systemsdescribed in U.S. Pat. Nos. 7,855,755; 7,626,749; 7,581,859; 7,446,924;7,446,650;7,370,983; 7,338,177; 7,329,013; 7,308,341; 7,289,037;7,274,501; 7,255,451; 7,249,860; 7,195,381; 7,184,190; 7,004,593;6,877,888; 6,824,281; 6,690,268; 6,672,744; 6,642,851; 6,513,252;6,386,742; 6,329,925; 6,222,460; 6,173,508; 6,124,886; 6,087,953;5,878,370; 5,802,727; 5,737,226; 5,724,187; 5,708,410; 5,699,044;5,677,851; 5,668,663; 5,632,092; 5,576,687; 5,530,240; 4,953,305 and/orU.S. Pat. No. 4,546,551, and/or European patent application, publishedOct. 11, 2000 under Publication No. EP 0 1043566, and/or U.S. patentapplications, Ser. No. 11/226,628, filed Sep. 14, 2005 and publishedMar. 23, 2006 as U.S. Publication No. US-2006-0061008; and/or Ser. No.10/538,724, filed Jun. 13, 2005 and published Mar. 9, 2006 as U.S.Publication No. US-2006-0050018, which are all hereby incorporatedherein by reference in their entireties. Optionally, the video mirrordisplay screen or device may be operable to display images captured by arearward viewing camera of the vehicle during a reversing maneuver ofthe vehicle (such as responsive to the vehicle gear actuator beingplaced in a reverse gear position or the like) to assist the driver inbacking up the vehicle, and optionally may be operable to display thecompass heading or directional heading character or icon when thevehicle is not undertaking a reversing maneuver, such as when thevehicle is being driven in a forward direction along a road (such as byutilizing aspects of the display system described in PCT Application No.PCT/US2011/056295, filed Oct. 14, 2011 and published Apr. 19, 2012 asInternational Publication No. WO 2012/051500, which is herebyincorporated herein by reference in its entirety).

Optionally, the driver assist system and/or vision system (utilizing theforward facing camera and a rearward facing camera and other camerasdisposed at the vehicle with exterior fields of view) may be part of ormay provide a display of a top-down view or birds-eye view system of thevehicle or a surround view at the vehicle, such as by utilizing aspectsof the vision systems described in PCT Application No. PCT/US10/25545,filed Feb. 26, 2010 and published on Sep. 2, 2010 as InternationalPublication No. WO 2010/099416, and/or PCT Application No.PCT/US10/47256, filed Aug. 31, 2010 and published Mar. 10, 2011 asInternational Publication No. WO 2011/028686, and/or PCT Application No.PCT/US2011/062834, filed Dec. 1, 2011 and published Jun. 7, 2012 asInternational Publication No. WO2012/075250, and/or PCT Application No.PCT/US2012/048993, filed Jul. 31, 2012, and/or PCT Application No.PCT/CA2012/000378, filed Apr. 25, 2012, and/or U.S. patent applicationSer. No. 13/333,337, filed Dec. 21, 2011 and published Jun. 28, 2012 asU.S. Publication No. US-2012-0162427, and/or U.S. provisionalapplications, Ser. No. 61/615,410, filed Mar. 26, 2012; Ser. No.61/588,833, filed Jan. 20, 2012; Ser. No. 61/570,017, filed Dec. 13,2011; Ser. No. 61/568,791, filed Dec. 9, 2011; and/or Ser. No.61/559,970, filed Nov. 15, 2011, which are hereby incorporated herein byreference in their entireties.

Changes and modifications to the specifically described embodiments maybe carried out without departing from the principles of the presentinvention, which is intended to be limited only by the scope of theappended claims as interpreted according to the principles of patentlaw.

The invention claimed is:
 1. A vehicular control system, said vehicularcontrol system comprising: a camera disposed at a vehicle equipped withsaid vehicular control system, said camera having a field of viewexterior of the equipped vehicle and operable to capture image data; areceiver disposed at the equipped vehicle and operable to receivewireless communications; wherein the wireless communications originatefrom other vehicles that are outside the field of view of said camera; acontrol comprising an image processor; wherein said image processorprocesses image data captured by said camera to detect vehicles presentwithin the field of view of said camera; wherein the wirelesscommunications comprise car-to-car communications; wherein saidvehicular control system determines presence of another vehicle thatconstitutes a potential hazard existing exterior of the equipped vehicleresponsive at least in part to a wireless communication originating fromthe other vehicle and received by said receiver, and wherein saidvehicular control system determines the presence of the other vehiclebased at least in part on the wireless communication originating fromthe other vehicle when the other vehicle has not yet been detected byprocessing by said image processor of image data captured by saidcamera; wherein, responsive to determination, based at least in part onthe wireless communication originating from the other vehicle, ofpresence of the other vehicle that constitutes the potential hazard,said image processor adjusts processing parameters for processing imagedata captured by said camera to enhance detection of the other vehiclevia processing by said image processor of image data captured by saidcamera; and wherein, when the other vehicle enters the field of view ofsaid camera, and responsive at least in part to said vehicular controlsystem detecting the other vehicle present within the field of view ofsaid camera via said image processor processing image data captured bysaid camera, said vehicular control system controls at least one vehiclefunction of the equipped vehicle to mitigate collision with the othervehicle.
 2. The vehicular control system of claim 1, wherein the atleast one vehicle function of the equipped vehicle comprises a brakingsystem of the equipped vehicle.
 3. The vehicular control system of claim1, wherein the at least one vehicle function of the equipped vehiclecomprises a steering system of the equipped vehicle.
 4. The vehicularcontrol system of claim 1, wherein the at least one vehicle function ofthe equipped vehicle comprises a braking system of the equipped vehicleand a steering system of the equipped vehicle.
 5. The vehicular controlsystem of claim 1, wherein the wireless communication comprises acommunication pertaining to a road condition of a road being traveled bythe equipped vehicle.
 6. The vehicular control system of claim 5,wherein the road condition comprises the potential hazard.
 7. Thevehicular control system of claim 6, wherein the potential hazardcomprises debris on the road being traveled by the equipped vehicle. 8.The vehicular control system of claim 1, wherein said vehicular controlsystem control alerts a driver of the equipped vehicle of the potentialhazard existing exterior of the equipped vehicle.
 9. The vehicularcontrol system of claim 1, wherein, when the equipped vehicle is incar-to-car communication range of another vehicle, wirelesscommunication between the equipped vehicle and the other vehicle isautomatically initialized.
 10. The vehicular control system of claim 9,wherein the wireless communication comprises time coded time of flightcommunication.
 11. The vehicular control system of claim 1, wherein atleast one radar sensor is disposed at the equipped vehicle, and whereinsaid radar sensor senses exterior of the equipped vehicle and capturesradar data, and wherein captured radar data is processed at said controlto assist in determining presence of the other vehicle that constitutesthe potential hazard.
 12. The vehicular control system of claim 1,wherein at least one lidar sensor is disposed at the equipped vehicle,and wherein said lidar sensor senses exterior of the equipped vehicleand captures lidar data, and wherein captured lidar data is processed atsaid control to assist in determining presence of the other vehicle thatconstitutes the potential hazard.
 13. The vehicular control system ofclaim 1, wherein said vehicular control system, responsive at least inpart to said image processor processing image data captured by saidcamera, determines that the other vehicle is within a threshold distanceof the equipped vehicle.
 14. The vehicular control system of claim 13,wherein the threshold distance is responsive to an environment in whichthe equipped vehicle is operating.
 15. The vehicular control system ofclaim 1, wherein the wireless communication originating from the othervehicle and received by said receiver is associated with at least one of(i) a driving condition of the other vehicle and (ii) a road conditionof a road being traveled by the equipped vehicle.
 16. The vehicularcontrol system of claim 1, wherein map data pertaining to a currentgeographical location of the equipped vehicle is provided to saidcontrol, and wherein said vehicular control system, responsive at leastin part to processing at said control of map data, controls the at leastone vehicle function of the equipped vehicle to mitigate collision withthe other vehicle.
 17. The vehicular control system of claim 16, whereinthe map data is provided by a global positioning system.
 18. Thevehicular control system of claim 1, wherein said vehicular controlsystem wirelessly communicates data from the equipped vehicle to a datacloud, and wherein the data communicated to the data cloud is derived atleast in part from image data captured by said camera, and wherein thecommunicated data is conjuncted to a geographical location of theequipped vehicle at the time that the data is communicated.
 19. Thevehicular control system of claim 1, wherein the wireless communicationoriginating from the other vehicle and received by said receiver isindicative of the other vehicle approaching an intersection to a roadbeing travelled by the equipped vehicle.
 20. The vehicular controlsystem of claim 19, wherein the wireless communication includesinformation indicating that the other vehicle's turn signal is activatedto indicate that the other vehicle will turn at the intersection.
 21. Avehicular control system, said vehicular control system comprising: acamera disposed at a vehicle equipped with said vehicular controlsystem, said camera having a field of view exterior of the equippedvehicle and operable to capture image data; a receiver disposed at theequipped vehicle and operable to receive wireless communications;wherein the wireless communications originate from other vehicles thatare outside the field of view of said camera; a control comprising animage processor; wherein said image processor processes image datacaptured by said camera to detect vehicles present within the field ofview of said camera; wherein the wireless communications comprisecar-to-car communications; wherein said vehicular control systemdetermines presence of another vehicle that constitutes a potentialhazard existing exterior of the equipped vehicle responsive at least inpart to a wireless communication originating from the other vehicle andreceived by said receiver, and wherein said vehicular control systemdetermines the presence of the other vehicle based at least in part onthe wireless communication originating from the other vehicle when theother vehicle has not yet been detected by processing by said imageprocessor of image data captured by said camera; wherein map datapertaining to a current geographical location of the equipped vehicle isprovided to said control; wherein, responsive to determination, based atleast in part on the wireless communication originating from the othervehicle, of presence of the other vehicle that constitutes the potentialhazard, said image processor adjusts processing parameters forprocessing image data captured by said camera to enhance detection ofthe other vehicle via processing by said image processor of image datacaptured by said camera; wherein, based at least in part on the wirelesscommunication originating from the other vehicle, and when the othervehicle is present within the field of view of said camera, andresponsive at least in part to said image processor processing imagedata captured by said camera, said vehicular control system detects theother vehicle present within the field of view of said camera; whereinsaid vehicular control system, responsive at least in part to said imageprocessor processing image data captured by said camera with the othervehicle present within the field of view of said camera, and responsiveat least in part to the map data provided to said control, controls atleast one vehicle function of the equipped vehicle to mitigate collisionwith the other vehicle; and wherein the at least one vehicle function ofthe equipped vehicle comprises a vehicle function selected from thegroup consisting of (i) a braking system of the equipped vehicle and(ii) a steering system of the equipped vehicle.
 22. The vehicularcontrol system of claim 21, wherein said vehicular control system,responsive at least in part to said image processor processing imagedata captured by said camera, determines that the other vehicle iswithin a threshold distance of the equipped vehicle.
 23. The vehicularcontrol system of claim 21, wherein the wireless communicationoriginating from the other vehicle and received by said receiver isassociated with at least one of (i) a driving condition of the othervehicle and (ii) a road condition of a road being traveled by theequipped vehicle.
 24. The vehicular control system of claim 21, whereinthe map data is provided by a global positioning system.
 25. A vehicularcontrol system, said vehicular control system comprising: a cameradisposed at a vehicle equipped with said vehicular control system, saidcamera having a field of view exterior of the equipped vehicle andoperable to capture image data; a receiver disposed at the equippedvehicle and operable to receive wireless communications; wherein thewireless communications originate from other vehicles that are outsidethe field of view of said camera; a control comprising an imageprocessor; wherein said image processor processes image data captured bysaid camera to detect vehicles present within the field of view of saidcamera; wherein the wireless communications comprise car-to-carcommunications; wherein said vehicular control system determinespresence of another vehicle that constitutes a potential hazard existingexterior of the equipped vehicle responsive at least in part to awireless communication originating from the other vehicle and receivedby said receiver, and wherein said vehicular control system determinesthe presence of the other vehicle based at least in part on the wirelesscommunication originating from the other vehicle when the other vehiclehas not yet been detected by processing by said image processor of imagedata captured by said camera; wherein the wireless communicationoriginating from the other vehicle and received by said receiver isindicative of the other vehicle approaching an intersection to a roadbeing travelled by the equipped vehicle; wherein, responsive todetermination, based at least in part on the wireless communicationoriginating from the other vehicle, of presence of the other vehiclethat constitutes the potential hazard, said image processor procccsadjusts processing parameters for processing image data captured by saidcamera to enhance detection of the other vehicle via processing by saidimage processor of image data captured by said camera; and wherein, whenthe other vehicle enters the field of view of said camera, andresponsive at least in part to said vehicular control system detectingthe other vehicle present within the field of view of said camera viasaid image processor processing image data captured by said camera, saidvehicular control system controls at least one vehicle function of theequipped vehicle to mitigate collision with the other vehicle; andwherein said vehicular control system control wirelessly communicatesdata from the equipped vehicle to a data cloud, and wherein the datacommunicated to the data cloud is derived at least in part from imagedata captured by said camera, and wherein the communicated data isconjuncted to a geographical location of the equipped vehicle at thetime that the data is communicated.
 26. The vehicular control system ofclaim 25, wherein the at least one vehicle function of the equippedvehicle comprises a braking system of the equipped vehicle.
 27. Thevehicular control system of claim 25, wherein the at least one vehiclefunction of the equipped vehicle comprises a steering system of theequipped vehicle.
 28. The vehicular control system of claim 25, whereinthe wireless communication comprises a communication pertaining to aroad condition of the road being traveled by the equipped vehicle. 29.The vehicular control system of claim 28, wherein the road conditioncomprises the potential hazard.
 30. The vehicular control system ofclaim 25, wherein said control vehicular control system, responsive atleast in part to said image processor processing image data captured bysaid camera, determines that the other vehicle is within a thresholddistance of the equipped vehicle.
 31. The vehicular control system ofclaim 25, wherein the wireless communication includes informationindicating that the other vehicle's turn signal is activated to indicatethat the other vehicle will turn at the intersection.